I'm noticing more and more of these types of threads lately.
You're actually talking about your particular parents' personalities, circumstances and choices and how these affected you, not about what it's like to be NT in a family of autistics.
Staying inside all the time isn't a facet of autism. My autistic children are much more up for going out than my neurotypical child. We've travelled extensively, as have some other families I know with two autistic parents. On the other hand, I know people from the council estate I lived on 30 years ago who still haven't moved outside the town where they were born.
Being unaffectionate isn't a facet of autism. My autistic children are more affectionate than my neurotypical child.
Being unempathetic isn't a facet of autism. I am more empathetic than my non-autistic husband.
Your experience is entirely valid, and I'm sorry your parents were cold and didn't expose you to many experiences. However, while it might help you to think that their parenting deficits directly resulted from their autism, things are never this straightforward.